Screw member tightening and loosening apparatus, and screw member tightening and loosening method
A control unit is configured to performs a first control of controlling a movement unit so that a fitted part of a screw member and a fitting part of a rotating body are axially aligned with each other; a second control of controlling the movement unit to press the fitting part against the fitted part; a third control of, while maintaining a state in which the fitting part is pressed against the fitted part, controlling a rotation-driving unit to rotate the rotating body to a first rotation direction side by a first predetermined angle; a fourth control of, while maintaining the state in which the fitting part is pressed against the fitted part, controlling the rotation-driving unit to rotate the rotating body to a second rotation direction side by a second predetermined angle, which is smaller than the first predetermined angle, the fourth control performed after the third control.
1. A screw member tightening and loosening apparatus comprising:
a rotating body comprising a fitting part configured to fit to a fitted part of a screw member, and is supported so as to be rotatable about an axis of the fitting part;
a rotation-driving unit configured to rotate the rotating body;
a movement unit configured to move the rotating body; and
a control unit configured to control operations of the rotation-driving unit and the movement unit, and
wherein:
one rotational direction of the rotating body caused by the rotation-driving unit is defined as a first rotation direction, and an opposite rotational direction is defined as a second rotation direction,
the control unit is configured to perform:
a first control configured to control the movement unit so that the fitted part and the fitting part are axially aligned with each other;
a second control configured to control the movement unit to press the fitting part against the fitted part while maintaining a state in which the fitted part and the fitting part are axially aligned with each other;
a third control configured to control the rotation-driving unit to rotate the rotating body in the first rotation direction by a first predetermined angle while maintaining a state in which the fitting part is pressed against the fitted part; and
a fourth control configured to control the rotation-driving unit to rotate the rotating body in the second direction by a second predetermined angle while maintaining the state in which the fitting part is pressed against the fitted part
the second predetermined angle is smaller than the first predetermined angle, the fourth control performed after the third control,
the fitting part is shaped such that it repeatedly forms a predetermined shape about the rotational direction, and
the first predetermined angle corresponds to a predetermined angle.
2. The screw member tightening and loosening apparatus according to claim 1 , further comprising:
a first detection unit configured to detect a state of the rotating body, and
wherein the fitting part is configured to fit to the fitted part when a phase of the predetermined shape of the fitting part repeatedly appearing at every predetermined angle matches a phase of a corresponding shape of the fitted part, and
wherein in the third control, if it is determined based on the state of the rotating body detected by the first detection unit that a shift in phase between the fitted part and the fitting part is not greater than an angle threshold set to a value equal to or smaller than the second predetermined angle, the control unit advances to the fourth control.
3. The screw member tightening and loosening apparatus according to claim 2 , wherein:
a direction along the axis of the fitting part is an axial direction, and a side in the axial direction to which the fitting part approaches the fitted part is a first axial side,
the first detection unit is configured to detect at least one of a rotation torque of the rotating body and a moving amount of the rotating body in the axial direction, and
in the third control, the control unit determines that a shift in phase between the fitted part and the fitting part is not greater than the angle threshold if the rotation torque of the rotating body is greater than a first threshold, or if the moving amount of the rotating body to the first axial side is greater than a second threshold.
4. The screw member tightening and loosening apparatus according to claim 1 , wherein:
a direction along the axis of the fitting part is an axial direction, and a side in the axial direction to which the fitting part approaches the fitted part is a first axial side,
the fitting part has the shape of a polygonal tube with a plurality of side surfaces surrounding the axis of the fitting part,
a boundary portion between adjacent side surfaces of the plurality of side surfaces has, at an end on the first axial side, a chamfered portion that is inclined with respect to the axial direction, and
the second predetermined angle is set to a value that corresponds to an angle range in the rotational direction in which the fitting part is guided in the rotational direction by the chamfered portion so as to fit to the fitted part.
5. The screw member tightening and loosening apparatus according to claim 1 , wherein:
a direction along the axis of the fitting part is an axial direction, and a side in the axial direction to which the fitting part approaches the fitted part is a first axial side, a side in the axial direction to which the fitting part is separated from the fitted part is a second axial side, and a side in the rotational direction to which the screw member is loosened from a screwing target is a loosening side,
the control unit is configured to perform:
a fifth control of, while maintaining a state in which the rotating body is subjected to a force to the first axial side by the movement unit, controlling the rotation-driving unit to rotate the screw member to the loosening side via the rotating body, the fifth control performed after the fourth control; and
a sixth control of controlling the movement unit to move the rotating body to the second axial side if, in the fifth control, the moving amount of the rotating body to the second axial side is equal to an amount that corresponds to a screwing length of the screw member with respect to the screwing target at the start of the fifth control.
6. The screw member tightening and loosening apparatus according to claim 1 , further comprising:
a holding unit configured to hold the screw member; and
a second detection unit configured to detect whether or not the screw member is held by the holding unit,
wherein the control unit is configured to perform a seventh control of controlling the movement unit so that the screw member is held by the holding unit after the screw member has been removed from the screwing target, and
wherein in the seventh control, if it is detected by the second detection unit that the screw member is held by the holding unit, the control unit determines that the removal of the screw member from the screwing target is complete.